Lidar Trailer Characterization for Accurate Road Train Kinematics
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Solution Overview
Problem
Existing methods for characterizing trailers attached to towing vehicles are not precise and require numerous sensors, as well as driver input, making them complex and costly.
Innovation Solution
A method using lidar sensor data from the towing vehicle to create and update a kinematic model of the trailer, allowing for precise characterization without the need for multiple sensors on the vehicle or trailer, and eliminating the requirement for driver input, by identifying detection points and determining features based on these points for continuous model updates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are provided on the vehicle combination to determine trailer length, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The lidar sensor device on the towing vehicle is designed to perform multiple functions: it detects both the surrounding area environment and the trailer characteristics simultaneously. The single lidar system serves as both a safety sensor and a characterization sensor, eliminating the need for separate sensors on the trailer and achieving precise trailer length determination without increasing overall device complexity
Solution Approach 2:
The towing vehicle's existing lidar sensor device is utilized to automatically characterize the trailer without requiring additional sensors on the trailer itself. The system performs self-characterization by processing lidar data to determine trailer features, eliminating the need for external sensor installations and reducing overall system complexity while maintaining measurement precision
2Manufacturing precision
If manual driver input is required to enter trailer properties, then ease of operation decreases, but manufacturing precision can be maintained
Solution Approach 1:
The system automatically determines trailer characteristics by processing lidar sensor data without requiring manual driver input. The towing vehicle's lidar device autonomously captures trailer features and the control device automatically updates the kinematic model, eliminating the need for drivers to manually enter trailer properties while maintaining accurate trailer characterization
Solution Approach 2:
The manual process of entering trailer properties is replaced by an automated optical measurement system. The lidar sensor device captures geometric data and the control device processes this information to automatically update the kinematic model, substituting manual data entry with automated sensor-based characterization while maintaining or improving model accuracy
3Measurement precision
If lidar sensor data is processed continuously to update the kinematic model, then measurement precision is improved, but use of energy increases
Solution Approach 1:
The system continuously processes lidar sensor data to maintain an up-to-date kinematic model of the trailer, enabling real-time tracking and prediction of trailer movement. This continuous characterization ensures high measurement precision for safety and maneuvering assistance functions, with energy consumption justified by the critical safety applications
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and continuous determination of the trailer's position and geometry, simplifying the characterization process and reducing costs, as only one lidar sensor on the towing vehicle is necessary, allowing for accurate tracking and prediction of the trailer's movement.
Implementation Method 1
lidar sensor data from a lidar sensor device of the towing vehicle is received from a surrounding area of the towing vehicle and the attached trailer, and detection points corresponding to reflection points from the surrounding area are identified in the lidar sensor data
Data Source
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AI summary
The invention relates to a method for characterizing a trailer (3) attached to a towing vehicle (2), in which a kinematic model (8) describing the trailer (3) is specified, the following steps being carried out: a) receiving lidar sensor data a lidar sensor device (6) of the towing vehicle (2) from a surrounding area (5) of the towing vehicle (2) and the attached trailer (3) and identifying detection points (D, D', D ") in the lidar sensor data; b) determining at least one model sub-region (10, 11, 12) that at least partially overlaps with the kinematic model (8); c) classifying the sub-regions (10, 11, 12) within the model ) lying detection points (D, D") as the trailer (3) corresponding detection points (D, D"); d) determining at least one feature (M) of the trailer (3) using the trailer (3) corresponding Dete action points (D, D"); e) comparing the at least one feature (M) with the kinematic model (8); and f) updating the kinematic model (8) based on the comparison of the at least one feature (M) with the kinematic model (8). The invention also relates to a driver assistance system (4) for a combination (1) formed by a towing vehicle (2) and a trailer (3), and a combination (1).